Greek64
a064a44dc4
A complete ROS action server and client implementation of the example_interfaces Fibonacci action is done, along with accompaning testbenches.
112 lines
5.9 KiB
Plaintext
112 lines
5.9 KiB
Plaintext
onerror {resume}
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radix define ROS_RETCODE {
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"10#0#" "ROS_RET_OK",
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"10#1#" "ROS_RET_ERROR",
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"10#2#" "ROS_RET_TIMEOUT",
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"10#3#" "ROS_RET_UNSUPPORTED",
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"10#10#" "ROS_RET_BAD_ALLOC",
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"10#11#" "ROS_RET_INVALID_ARGUMENT",
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"10#12#" "ROS_RET_INCORRECT_RMW_IMPLEMENTATION",
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"10#100#" "ROS_RET_ALREADY_INIT",
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"10#101#" "ROS_RET_NOT_INIT",
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"10#102#" "ROS_RET_MISMATCHED_RMW",
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"10#103#" "ROS_RET_TOPIC_NAME_INVALID",
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"10#104#" "ROS_RET_SERVICE_NAME_INVALID",
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"10#105#" "ROS_RET_UNKNOWN_SUBSTITUTION",
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"10#106#" "ROS_RET_ALREADY_SHUTDOWN",
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"10#200#" "ROS_RET_NODE_INVALID",
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"10#201#" "ROS_RET_NODE_INVALID_NAME",
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"10#202#" "ROS_RET_NODE_INVALID_NAMESPACE",
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"10#203#" "ROS_RET_NODE_NAME_NON_EXISTENT",
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"10#400#" "ROS_RET_SUBSCRIPTION_INVALID",
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"10#401#" "ROS_RET_SUBSCRIPTION_TAKE_FAILED",
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"10#500#" "ROS_RET_CLIENT_INVALID",
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"10#501#" "ROS_RET_CLIENT_TAKE_FAILED",
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"10#600#" "ROS_RET_SERVICE_INVALID",
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"10#601#" "ROS_RET_SERVICE_TAKE_FAILED",
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"10#800#" "ROS_RET_TIMER_INVALID",
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"10#801#" "ROS_RET_TIMER_CANCELED",
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"10#900#" "ROS_RET_WAIT_SET_INVALID",
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"10#901#" "ROS_RET_WAIT_SET_EMPTY",
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"10#902#" "ROS_RET_WAIT_SET_FULL",
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"10#1001#" "ROS_RET_INVALID_REMAP_RULE",
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"10#1002#" "ROS_RET_WRONG_LEXEME",
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"10#1003#" "ROS_RET_INVALID_ROS_ARGS",
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"10#1010#" "ROS_RET_INVALID_PARAM_RULE",
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"10#1020#" "ROS_RET_INVALID_LOG_LEVEL_RULE",
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"10#2001#" "ROS_RET_EVENT_TAKE_FAILED",
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"10#2000#" "ROS_RET_ACTION_NAME_INVALID",
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"10#2100#" "ROS_RET_ACTION_GOAL_ACCEPTED",
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"10#2101#" "ROS_RET_ACTION_GOAL_REJECTED",
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"10#2102#" "ROS_RET_ACTION_CLIENT_INVALID",
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"10#2103#" "ROS_RET_ACTION_CLIENT_TAKE_FAILED",
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"10#2200#" "ROS_RET_ACTION_SERVER_INVALID",
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"10#2201#" "ROS_RET_ACTION_SERVER_TAKE_FAILED",
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"10#2300#" "ROS_RET_ACTION_GOAL_HANDLE_INVALID",
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"10#2301#" "ROS_RET_ACTION_GOAL_EVENT_INVALID",
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"10#3000#" "ROS_RET_LIFECYCLE_STATE_REGISTERED",
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"10#3001#" "ROS_RET_LIFECYCLE_STATE_NOT_REGISTERED",
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-default unsigned
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}
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quietly WaveActivateNextPane {} 0
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add wave -noupdate -divider SYSTEM
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add wave -noupdate /l1_fibonacci_ros_action_test1/clk
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add wave -noupdate /l1_fibonacci_ros_action_test1/reset
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add wave -noupdate -divider CLIENT
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_c/start
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_c/opcode
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_c/ack
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add wave -noupdate -radix hexadecimal /l1_fibonacci_ros_action_test1/uut_c/sequence_id
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add wave -noupdate -radix hexadecimal /l1_fibonacci_ros_action_test1/uut_c/service_info
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_c/done
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add wave -noupdate -radix ROS_RETCODE /l1_fibonacci_ros_action_test1/uut_c/return_code
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add wave -noupdate -group GOAL_C /l1_fibonacci_ros_action_test1/uut_c/goal_srv_client_inst/stage
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add wave -noupdate -group GOAL_C /l1_fibonacci_ros_action_test1/uut_c/goal_srv_client_inst/cnt
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add wave -noupdate -expand -group RESULT_C /l1_fibonacci_ros_action_test1/uut_c/result_srv_client_inst/stage
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add wave -noupdate -expand -group RESULT_C /l1_fibonacci_ros_action_test1/uut_c/result_srv_client_inst/cnt
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add wave -noupdate -expand -group CANCEL_C /l1_fibonacci_ros_action_test1/uut_c/cancel_srv_client_inst/stage
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add wave -noupdate -expand -group CANCEL_C /l1_fibonacci_ros_action_test1/uut_c/cancel_srv_client_inst/cnt
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add wave -noupdate -group FEEDBACK_C /l1_fibonacci_ros_action_test1/uut_c/stage
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add wave -noupdate -group FEEDBACK_C /l1_fibonacci_ros_action_test1/uut_c/cnt
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_c/stage
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_c/cnt
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add wave -noupdate -divider SERVER
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_s/start
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_s/opcode
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_s/ack
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_s/done
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add wave -noupdate -radix ROS_RETCODE /l1_fibonacci_ros_action_test1/uut_s/return_code
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add wave -noupdate -group GOAL_S /l1_fibonacci_ros_action_test1/uut_s/goal_srv_server_inst/stage
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add wave -noupdate -group GOAL_S /l1_fibonacci_ros_action_test1/uut_s/goal_srv_server_inst/cnt
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add wave -noupdate -expand -group RESULT_S /l1_fibonacci_ros_action_test1/uut_s/result_srv_server_inst/stage
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add wave -noupdate -expand -group RESULT_S /l1_fibonacci_ros_action_test1/uut_s/result_srv_server_inst/cnt
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add wave -noupdate -group CANCEL_S /l1_fibonacci_ros_action_test1/uut_s/cancel_srv_server_inst/stage
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add wave -noupdate -group CANCEL_S /l1_fibonacci_ros_action_test1/uut_s/cancel_srv_server_inst/cnt
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add wave -noupdate -group FEEDBACK_S /l1_fibonacci_ros_action_test1/uut_s/feedback_gen/feedback_pub_inst/stage
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add wave -noupdate -group FEEDBACK_S /l1_fibonacci_ros_action_test1/uut_s/feedback_gen/feedback_pub_inst/cnt
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add wave -noupdate -group STATUS_S /l1_fibonacci_ros_action_test1/uut_s/status_pub_inst/stage
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add wave -noupdate -group STATUS_S /l1_fibonacci_ros_action_test1/uut_s/status_pub_inst/cnt
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add wave -noupdate -group ACTION_SERVER /l1_fibonacci_ros_action_test1/uut_s/action_server_inst/stage
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add wave -noupdate -group ACTION_SERVER /l1_fibonacci_ros_action_test1/uut_s/action_server_inst/cnt
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_s/stage
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add wave -noupdate /l1_fibonacci_ros_action_test1/uut_s/cnt
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add wave -noupdate -divider MISC
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TreeUpdate [SetDefaultTree]
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WaveRestoreCursors {{Cursor 1} {1890595 ps} 0}
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quietly wave cursor active 1
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configure wave -namecolwidth 150
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configure wave -valuecolwidth 100
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configure wave -justifyvalue left
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configure wave -signalnamewidth 1
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configure wave -snapdistance 10
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configure wave -datasetprefix 0
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configure wave -rowmargin 4
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configure wave -childrowmargin 2
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configure wave -gridoffset 0
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configure wave -gridperiod 1
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configure wave -griddelta 40
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configure wave -timeline 0
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configure wave -timelineunits ns
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update
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WaveRestoreZoom {1314200 ps} {2338200 ps}
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